From 581514e44d63392698ca47b9e50d0288e3fadbdb Mon Sep 17 00:00:00 2001
From: Erik Andresen <erik@vontaene.de>
Date: Tue, 30 Aug 2016 22:48:42 +0200
Subject: [PATCH 1/1] pid tuning for gear ratio=1:47

---
 avr/motor_ctrl/main.c   |  36 +-
 avr/motor_ctrl/main.hex | 969 ++++++++++++++++++++--------------------
 scripts/pid_manual.py   |  10 +-
 3 files changed, 522 insertions(+), 493 deletions(-)

diff --git a/avr/motor_ctrl/main.c b/avr/motor_ctrl/main.c
index 3dca8cc..6d9f620 100644
--- a/avr/motor_ctrl/main.c
+++ b/avr/motor_ctrl/main.c
@@ -101,12 +101,12 @@
 #define TWI_RESET	TWCR &= ~((1 << TWSTO) | (1 << TWEN)); TWI_ACK
 #define TWI_NAK		TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE)
 
-#define KP 0.039
-#define KI 0.08
+#define KP 0.06
+#define KI 0.10
 #define KD 0.0
 #define PID_T 0.01
-// wheel diameter=12cm, encoder=48cpr, gear ratio=1:34, real wheel diameter: 0.12454m
-#define STEP_PER_M_AVG 4171.4
+// wheel diameter=12cm, encoder=48cpr, gear ratio=1:47, real wheel diameter: 0.12454m
+#define STEP_PER_M_AVG 5766.1
 #define STEP_PER_M_LEFT (STEP_PER_M_AVG)
 #define STEP_PER_M_RIGHT (STEP_PER_M_AVG)
 #define WHEEL_DIST 0.36923 // Real: 0.252
@@ -149,6 +149,10 @@ static volatile int16_t speed1_wish=0; // step/s
 static volatile int16_t speed2_wish=0;
 static volatile int16_t speed3_wish=0;
 static volatile int16_t speed4_wish=0;
+static volatile int16_t speed1_wish_old=0;
+static volatile int16_t speed2_wish_old=0;
+static volatile int16_t speed3_wish_old=0;
+static volatile int16_t speed4_wish_old=0;
 static volatile uint8_t run_update=0;
 static volatile int16_t speed1=0; // step/s
 static volatile int16_t speed2=0;
@@ -886,10 +890,14 @@ static void update_pid(void) {
 	}	
 
 	if (motor1_mode == MOTOR_PID) {
+		if (speed1_wish != speed1_wish_old) {
+			esum1 = 0;
+			speed1_wish_old = speed1_wish;
+		}
+
 		if (speed1_wish == 0) {
 			motor1 = 0;
 			eold1 = 0;
-			esum1 = 0;
 			error_state &= ~(1<<4);
 		} else {
 			int16_t e = speed1_wish - speed1;
@@ -904,10 +912,14 @@ static void update_pid(void) {
 		}
 	}
 	if (motor2_mode == MOTOR_PID) {
+		if (speed2_wish != speed2_wish_old) {
+			esum2 = 0;
+			speed2_wish_old = speed2_wish;
+		}
+
 		if (speed2_wish == 0) {
 			motor2 = 0;
 			eold2 = 0;
-			esum2 = 0;
 			error_state &= ~(1<<5);
 		} else {
 			int16_t e = speed2_wish - speed2;
@@ -922,10 +934,14 @@ static void update_pid(void) {
 		}
 	}
 	if (motor3_mode == MOTOR_PID) {
+		if (speed3_wish != speed3_wish_old) {
+			esum3 = 0;
+			speed3_wish_old = speed3_wish;
+		}
+
 		if (speed3_wish == 0) {
 			motor3 = 0;
 			eold3 = 0;
-			esum3 = 0;
 			error_state &= ~(1<<6);
 		} else {
 			int16_t e = speed3_wish - speed3;
@@ -940,10 +956,14 @@ static void update_pid(void) {
 		}
 	}
 	if (motor4_mode == MOTOR_PID) {
+		if (speed4_wish != speed4_wish_old) {
+			esum4 = 0;
+			speed4_wish_old = speed4_wish;
+		}
+
 		if (speed4_wish == 0) {
 			motor4 = 0;
 			eold4 = 0;
-			esum4 = 0;
 			error_state &= ~(1<<7);
 		} else {
 			int16_t e = speed4_wish - speed4;
diff --git a/avr/motor_ctrl/main.hex b/avr/motor_ctrl/main.hex
index edffdd9..3a80dc0 100644
--- a/avr/motor_ctrl/main.hex
+++ b/avr/motor_ctrl/main.hex
@@ -27,21 +27,21 @@
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-:100240001092E9001CC3883A09F4B7C1883B09F44D
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+:10025000B4C110C38091F1008A3209F449C108F099
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-:1002A00083B12091A80090E0922B9093E10080937D
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+:1003B000DA0050C2853909F4F9C08F3F09F052C202
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 :10047000A800F0C183B12091A80090E0922B909346
-:10048000CB008093CA0081E08093D400E3C123B104
+:10048000D3008093D20081E08093DC00E3C123B1EC
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diff --git a/scripts/pid_manual.py b/scripts/pid_manual.py
index 77a7bce..9b6b60a 100755
--- a/scripts/pid_manual.py
+++ b/scripts/pid_manual.py
@@ -6,11 +6,11 @@ import struct
 from time import sleep
 from i2c import i2c_write_reg, i2c_read_reg
 
-KP=0.034
-KI=0.02
+KP=0.05
+KI=0.0
 KD=0.0
 PID_T=0.01
-STEP_PER_M_AVG=4171.4
+STEP_PER_M_AVG=5766.1
 eold1 = 0.0
 eold2 = 0.0
 eold3 = 0.0
@@ -80,8 +80,6 @@ if __name__ == "__main__":
 			elif (motor3 > 255): motor3 = 255
 			elif (motor3 < -255): motor3 = -255
 
-			print "Wish=", speed3_wish, "Speed=", speed3, "e=", e, "esum=", esum3, "pwm=", motor3, "error=", error
-
 		if speed4_wish == 0: 
 			motor4 = 0.0
 			eold4 = 0.0
@@ -97,6 +95,8 @@ if __name__ == "__main__":
 			elif (motor4 > 255): motor4 = 255
 			elif (motor4 < -255): motor4 = -255
 
+			print "Wish=", speed4_wish, "Speed=", speed4, "e=", e, "esum=", esum4, "pwm=", motor4, "error=", error
+
 		set_pwm(motor1, motor2, motor3, motor4)
 
 		sleep(PID_T)
-- 
2.39.2